Robot System with Virtual Reality for Cell Sites and Towers

ABSTRACT

In various embodiments, the present disclosure relates to robot systems configured to operate on a cell tower to inspect, install, reconfigure, and repair cellular equipment. The present disclosure provides a robot for performing audit tasks of cell towers. The robot includes a body portion configured to hold various electronic components of the robot including monitoring equipment disposed thereon, one or more arms extending from the body portion adapted to manipulate components of a cell tower and to facilitate movement of the robot on the cell tower, and wireless interfaces adapted to receive control signals from a Virtual Reality (VR) system allowing wireless control of the robot. The robot is configured to be controlled by one of a user in a remote location, a user at the cell tower site, and autonomously via direct programing.

CROSS-REFERENCE TO RELATED APPLICATION(S)

The present patent/application is continuation-in-part of, and thecontent of each are incorporated by reference herein:

Filing Date Ser. No. Title Aug. 8, 2017 15/671,439 UNMANNED AERIALVEHICLES LANDING ZONES AT CELL SITES Aug. 26, 2016 15/248,634 USINGDRONES TO LIFT PERSONNEL UP CELL TOWERS Jul. 8, 2016 15/205,313 CELLTOWER INSTALLATION AND MAINTENANCE SYSTEMS AND METHODS USING ROBOTICDEVICES Jun. 23, 2016 15/190,450 CELL TOWER INSTALLATION SYSTEMS ANDMETHODS WITH UNMANNED AERIAL VEHICLES Jun. 7, 2016 15/175,314 WIRELESSCOVERAGE TESTING SYSTEMS AND METHODS WITH UNMANNED AERIAL VEHICLES Apr.18, 2016 15/131,460 UNMANNED AERIAL VEHICLE-BASED SYSTEMS AND METHODSASSOCIATED WITH CELL SITES AND CELL TOWERS WITH ROBOTIC ARMS FORPERFORMING OPERATIONS Jun. 11, 2015 14/736,925 TETHERED UNMANNED AERIALVEHICLE-BASED SYSTEMS AND METHODS ASSOCIATED WITH CELL SITES AND CELLTOWERS Apr. 14, 2015 14/685,720 UNMANNED AERIAL VEHICLE-BASED SYSTEMSAND METHODS ASSOCIATED WITH CELL SITES AND CELL TOWERS

FIELD OF THE DISCLOSURE

The present disclosure generally relates to cell sites and robotsystems. More particularly, the present disclosure relates to robotsystems configured to operate on a cell tower to inspect, install,reconfigure, and repair cellular equipment.

BACKGROUND OF THE DISCLOSURE

Due to the geographic coverage nature of wireless service, there arehundreds of thousands of cell towers in the United States. For example,in 2014, it was estimated that there were more than 310,000 cell towersin the United States. Cell towers can have heights up to 1,500 feet ormore. There are various requirements for cell site workers (alsoreferred to as tower climbers or transmission tower workers) to climbcell towers to perform maintenance, audit, and repair work for cellularphone and other wireless communications companies. This is both adangerous and costly endeavor. For example, between 2003 and 2011, 50tower climbers died working on cell sites (see, e.g.,www.pbs.org/wgbh/pages/frontline/social-issues/cell-tower-deaths/in-race-for-better-cell-service-men-who-climb-towers-pay-with-their-lives/).Also, OSHA estimates that working on cell sites is 10 times moredangerous than construction work, generally (see, e.g.,www.propublica.org/article/cell-tower-work-fatalities-methodology).Furthermore, the tower climbs also can lead to service disruptionscaused by accidents. Thus, there is a strong desire, from both a costand safety perspective, to reduce the number of tower climbs by cellcite workers.

It would be advantageous to have a mechanism to allow cell site workersto reach up to a cell tower, without having to perform a dangerous towerclimb. Any such mechanism requires safety, stability, accessibility,mobility, etc.

The above-described background relating to cell sites is merely intendedto provide a contextual overview of some current issues and is notintended to be exhaustive. Other contextual information may becomeapparent to those of ordinary skill in the art upon review of thefollowing description of exemplary embodiments.

BRIEF SUMMARY OF THE DISCLOSURE

In an embodiment, a robot for performing audit tasks of cell towers isprovided, the robot including: a body portion configured to hold variouselectronic components of the robot further including monitoringequipment disposed thereon; one or more arms extending from the bodyportion adapted to manipulate components of a cell tower and tofacilitate movement of the robot on the cell tower; and wirelessinterfaces adapted to receive control signals from a Virtual Reality(VR) system allowing wireless control of the robot. The VR system caninclude a headset and one or more control components, wherein thecontrol components are any of wearable and handheld devices. The one ormore arms may further include claws adapted to grip tools and componentsof the cell tower. The claws may include image sensors disposed on adistal end of the claws for capturing image data of difficult to reachareas of the cell tower. The robot may further include magnets disposedon the body portion, wherein the magnets are one of permanent magnetsand selectively enabled magnets adapted to secure the robot to the celltower. The body portion may further include storage compartmentsconfigured to hold tools and equipment. The robot is adapted to operatein adverse weather conditions. The body portion may additionally includeelongated compartments, wherein the one or more arms are configured tostow within the elongated compartments. The robot is configured to becontrolled by one of a user in a remote location, a user at the celltower site, and direct programing.

In another embodiment, a robot for performing audit tasks of cell towersis provided, the robot including: a body portion configured to holdvarious electronic components of the robot including monitoringequipment disposed thereon; one or more arms extending from the bodyportion adapted to manipulate components of a cell tower and tofacilitate movement of the robot on the cell tower; wireless interfacesadapted to receive control signals from a Virtual Reality (VR) systemallowing wireless control of the robot; a processor coupled to thewireless interfaces; and memory storing instructions that, whenexecuted, cause the processor to: process commands to position the roboton the cell tower to perform an audit task chosen from a plurality ofoperations to the cell tower; process commands to capture dataassociated with components being audited based on the audit beingperformed; and process the data collected to verify whether thecomponent being audited is in a predetermined condition. The VR systemcan include a headset and one or more control components, wherein thecontrol components are any of wearable and handheld devices. Theplurality of operations can include any of inspecting and monitoring acomponent of the cell tower, performing repair, and installingcomponents of the cell tower. The instructions can further cause theprocessor to utilize a Machine Learning (ML) model to learn and improvethe robot's ability to work on the cell tower over time. The robot isconfigured to be controlled by one of a user in a remote location, auser at the cell tower site, and direct programing. The one or more armscan further include claws adapted to grip tools and components of thecell tower. Data can be captured by image sensors disposed on a distalend of the claws. The robot can further include magnets disposed on thebody portion, wherein the magnets are one of permanent magnets andselectively enabled magnets adapted to secure the robot to the celltower, and wherein the instructions further cause the processor tocontrol the selectively enabled magnets. The body portion may furtherinclude storage compartments configured to hold tools and equipment. Therobot may be adapted to operate in adverse weather conditions. The bodyportion further includes elongated compartments, wherein the one or morearms are configured to stow within the elongated compartments.

In a further embodiment, a method implemented by a Virtual Reality (VR)system adapted to control a robot, the method including steps ofpositioning a robot on a cell tower to perform an audit task chosen froma plurality of operations to the cell tower; capturing data associatedwith components being audited based on the audit being performed; andprocessing the data collected to verify whether the component beingaudited is in a predetermined condition. The plurality of operationsinclude any of inspecting and monitoring a component of the cell tower,performing repair, and installing components of the cell tower.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure is illustrated and described herein withreference to the various drawings, in which like reference numbers areused to denote like system components/method steps, as appropriate, andin which:

FIG. 1 is a schematic diagram of a cell site including a self supportedcell tower.

FIG. 2 is a schematic diagram of a cell site including a monopole celltower.

FIG. 3 is a schematic diagram of a cell site including a guy wire tower.

FIG. 4 is a schematic diagram of an exemplary robot system configuredfor inspecting, installing, reconfiguring, and repairing cellularequipment at a cell site in accordance with the present disclosure.

FIG. 5 is a schematic diagram of a robot of the robot system of FIG. 4in accordance with the present disclosure.

FIG. 6 is a block diagram of the robot of FIGS. 4 and 5 in accordancewith the present disclosure.

FIG. 7 is a schematic diagram of one embodiment of the robot housed on acell tower in accordance with the present disclosure.

FIG. 8 is a schematic diagram of another embodiment of the robot housedon a cell tower in accordance with the present disclosure.

FIG. 9 is a schematic diagram of a further embodiment of the robothoused on a cell tower in accordance with the present disclosure.

FIG. 10 is a block diagram of one embodiment of the controller of therobot system in accordance with the present disclosure.

FIG. 11 is a block diagram of one embodiment of a Virtual Reality (VR)System for controlling the robot in accordance with the presentdisclosure.

FIG. 12 is a flow chart of an exemplary method for performing an auditof the cell site utilizing a robot system.

FIG. 13 is a flow chart of an exemplary method for modifying componentsof the cell site utilizing a robot system.

FIG. 14 is a schematic diagram of an embodiment of the robot on a celltower coordinating with an Unmanned Aerial Vehicle (UAV) in accordancewith the present disclosure.

FIG. 15 is a schematic diagram of another exemplary robot systemconfigured for inspecting, installing, reconfiguring, and repairingcellular equipment at a cell site in accordance with the presentdisclosure.

FIG. 16 is a flow chart of an exemplary method for modifying componentsof the cell site utilizing a robot system with a machine learning model.

FIG. 17 is a flow chart of an exemplary method for providing componentsto a robot and modifying components of the cell site utilizing the robotsystem with a machine learning model.

FIG. 18 is a flow chart of an exemplary method for modifying componentsof the cell site utilizing a robot system that lives in a dockingstation on the cell tower.

DETAILED DESCRIPTION OF THE DISCLOSURE

In various embodiments, the present disclosure relates to robot systemsconfigured to operate on a cell tower to inspect, install, reconfigure,and repair cellular equipment (audit tasks). The present disclosureprovides a robot for performing audit tasks of cell towers. The robotincludes a body portion configured to hold various electronic componentsof the robot including monitoring equipment disposed thereon, one ormore arms extending from the body portion adapted to manipulatecomponents of a cell tower and to facilitate movement of the robot onthe cell tower, a tethering system adapted to prevent the robot fromfalling off of the cell tower, and wireless interfaces adapted to allowwireless control of the robot. The robot is configured to be controlledby one of a user in a remote location, a user at the cell tower site,and direct programing.

§ 1.0 Exemplary Cell Sites

FIGS. 1-3 are schematic diagrams of a cell sites 10 including a celltower 12. The cell tower 12 can be any type of elevated structure, suchas 100-200 feet/30-60 meters tall. Referring to FIGS. 1-3, the figuresillustrate different types of call towers 12 including a self supportedcell tower, a monopole cell tower, and a guy wire tower respectively.These three types of towers 12 have different support mechanisms.Referring to FIG. 1, the tower 12 includes a self support tower thatincludes a lattice structure 13. The self support tower is freestanding. Referring to FIG. 2, the tower 12 includes a monopole celltower that is a single tube 15, which is also free standing. Referringto FIG. 3, the tower 12 includes a guy wire tower that includes straightrod 17 supported by tension cables 19. The tension cables 19 generallyattach to the straight rod 17 at the same place at different heights onthe straight rod 17, e.g., every 100′, 200′, etc.

Referring again to FIGS. 1-3, generally, the cell tower 12 is anelevated structure for holding cell site components 14. The cell tower12 may also include a lightning rod 16, a warning light 18, etc. Ofcourse, there may various additional components associated with the celltower 12 and the cell site 10 which are omitted for illustrationpurposes. In exemplary embodiments, there are one or more sets 20, 22,24, 26 of cell site components 14, such as for different wirelessservice providers. In these examples, the sets 20, 22, 24 includevarious antennas 30 for cellular service. The sets 20, 22, 24 aredeployed in sectors, e.g., there can be three sectors for the cell sitecomponents—alpha, beta, and gamma. The antennas 30 are used to bothtransmit a radio signal to a mobile device and receive the signal fromthe mobile device. The antennas 30 are usually deployed as a single,groups of two, three or even four per sector. The higher the frequencyof spectrum supported by the antenna 30, the shorter the antenna 30. Forexample, the antennas 30 may operate around 850 MHz, 1.9 GHz, and thelike. The set 26 includes a microwave dish 34 which can be used toprovide other types of wireless connectivity, besides cellular service.There may be other embodiments where the cell tower 12 is omitted andreplaced with other types of elevated structures such as roofs, watertanks, etc.

In embodiments, one or more of the sets 20, 22, 24, 26 of cell sitecomponents 14 is supported by a radio center platform 32. Each of theradio center platforms 32 can be dedicated to one wireless serviceprovider. In embodiments, the cell tower 12 includes climbing supports36, such as pegs, clips, etc. for use by a worker to safely climb thetower 12.

To support the various cell site components and their operation thereof,the cell site 10 includes a shelter 40 (which can also be referred to asa cabinet, house, etc.) which include electronics and other networkingequipment to support the functionality and operation of the cell sitecomponents 14.

§ 2.0 Robot System

FIG. 4 is a schematic diagram of an exemplary robot system 90 configuredfor inspecting, auditing, monitoring, installing, reconfiguring, andrepairing cellular equipment 14 (refer to FIGS. 1-3) at a cell site 10in accordance with the present disclosure. All of these activities arefurther referred to as audit tasks. FIG. 5 is a schematic diagram of therobot 100 of the robot system 90 of FIG. 4 in accordance with thepresent disclosure. Referring to FIGS. 4 and 5, in embodiments, therobot system 90 includes a controller 200 and a robot 100. Thecontroller 200 is configured to control and schedule movements of therobot 100. In embodiments, the controller 200 includes an input system220. In some embodiments, the input system 220 is a mouse and keyboard.In other embodiments, the input system 220 is a handheld controller. Infurther embodiments, the input system 220 is a Virtual Reality (VR)system.

In embodiments, the robot 100 includes a body 105, arms 110, andmonitoring equipment 130. The body 105 is configured to support the arms110 and is configured to hold the various electronic components of therobot (refer to FIG. 6). In embodiments, the body includes multiplemagnets 141 positioned on a bottom thereof. In some embodiments, themagnets 141 are selectively enabled, such that the magnetism can becontrolled in order to secure the body 105 to a cell tower or securevarious tools 128 to the robot 100. In the embodiment illustrated, thebody 105 includes a continuous track 140 and the magnets 141 are part ofthe treads of the continuous track 140. In some of these embodiments,the magnets 141 are selectively enable while being positioned within apredetermined position of the continuous track 140, and in particular,while being in a position to contact a portion of the cell tower (i.e.energized while in the predetermined position and de-energized while notwithin the predetermined position). In other embodiments, the magnets141 are permanent magnets. In some embodiments, the magnets 141 areformed of a bendable material, such that the magnets 141 are configuredto conform to any curvature in the portion of the cell tower that themagnets 141 come into contact with, such as the single tube 15 (refer toFIG. 2) and the straight rod 17 (refer to FIG. 3).

In embodiments, the body 105 includes storage compartments 125configured to hold tools 128 and equipment. The tools 128 are configuredfor use during maintenance, installation, repairs, and the like. Theequipment can be spare parts, replacement parts, removed parts, and thelike. In some embodiments, the body 105 also includes elongatedcompartments 126. The elongated compartments 126 are configured toreceive all or a portion of an arm 110. In embodiments, each arm 115 isconfigured stow within the body 105, such as by folding and moving intoone of the elongated compartments 126.

The arms 110 include arm segments 111, joints 112 and a claw 113. Thejoints 112 are configured to provide multiple degrees of freedom betweenthe arm segments 111, the body 105 and an arm segment 111, and the claw113 and an arm segment 111. In embodiments, the joints 112 areconfigured for relative movement on multiple planes as well as rotationbetween the adjoining components.

In embodiments, the claw 113 includes at least two digits for grippingportions of the cell tower, such as climbing supports 36 and radiocenter platform 32 (refer to FIGS. 1 and 2), and for gripping tools 128and components of the cell tower, such as cables, radios, antennas, andthe like. In embodiments, the claw 113 includes one or more magnets 114positioned at an interior of the digits of the claw 113. The one or moremagnets 114 are configured to improve the grip of the claw 113 for bothclimbing and for holding and manipulating tools 128. In someembodiments, the one or more magnets 114 are selectively enabled whilegripping a portion of the cell tower or tools 128 and are selectivelydisabled while not gripping a portion of the cell tower or tools 128.

In embodiments, the claw 113 includes an image sensor 115, such as acamera, positioned on one of the digits thereof. In the embodimentillustrated, the image sensor 115 is positioned at an end of a digit,distal to the arm segment 111 adjoining the claw 113. By beingpositioned at an end of the arm 110, the image sensor 115 can beutilized for inspecting difficult to reach areas and can be utilized forclosely viewing the components that the robot is inspecting, installing,or repairing.

In embodiments, each of the arms 110 is configured to access the storagecompartments 125 for inserting components therein and removingcomponents therefrom.

While the embodiment illustrated includes three arms 110, with two atthe front and one at the back, any number of arms 110 and configurationsthereof are contemplated.

The monitoring equipment 130 includes one or more image sensors 131. Inembodiments, the one or more image sensors 131 are positioned at a frontof the body 105 and can be utilized for receiving feedback forcontrolling the robot 100 and for visually inspecting the cell tower andthe components thereon.

In embodiments, the monitoring equipment 130 also includes othermonitoring devices 132 including sensors, radios, spectrum analyzers,radio frequency (RF) sensors, a Global Positioning Satellite (GPS)measurement device, and the like that are utilized for auditing andinspecting the equipment on the cell tower. The RF sensors can be anydevice capable of making wireless measurements related to signalsassociated with the cell site components 14, i.e., the antennas 30. Inembodiments, the monitoring devices 132 are modularly configuredallowing for the easy exchange between monitoring devices 132 used bythe robot 100 for auditing and inspecting the equipment on the celltower. For example, when next generation equipment is installed on thecell tower, a respective monitoring device 132 can be provided to therobot 100, which exchanges the previous generation monitoring device 132for the next generation monitoring device 132. In embodiments, themonitoring devices 132 are configured to be selectively enabled so as toonly function while the robot 100 is auditing or inspecting equipment onthe cell tower to reduce any interference that the robot 100 may causewith the equipment.

In some embodiments, the robot 100 also includes a tethering system 120.The tethering system includes a spool 123, a tether 122, and a fastener121. The spool 123 is configured to wind and unwind the tether 122. Thetether 122 can be a cable, rope, a power cable, a communications cable,a fiber optic cable, etc., i.e., any connection with the strength toprevent the robot 100 from falling off of the cell tower 12 or tosupport the weight of any components that the robot 100 may lift up thecell tower 12. The fastener 121 is configured to connect to variousportions of the cell tower to prevent the robot 100 from fallingtherefrom. In embodiments, the tethering system 120 is also configuredto attach to equipment for raising and lowering the equipment from thecell tower.

In some embodiments, the tether system 120 includes one or more winches124 and one or more pulleys 127 that can be utilized for liftingequipment 14 with the tether system 120 and that can be utilized formaneuvering the robot 100.

In some embodiments, the robot 100 includes one or more solar panels 129configured to charge the robot 100.

In some embodiments, the robot 100 is adapted to be used in adverseweather conditions (high wind, rain, snow, severe cold, etc.) and caninclude waterproof compartments and weather resilient components.

FIG. 6 is a block diagram of the robot 100 of FIGS. 4 and 5 inaccordance with the present disclosure. The robot 100 can include adigital device that, in terms of hardware architecture, generallyincludes a processor 182, input/output (I/O) interfaces 184, wirelessinterfaces 186, a data store 188, and memory 190. It should beappreciated by those of ordinary skill in the art that FIG. 6 depictsthe robot 100 in an oversimplified manner, and a practical embodimentmay include additional components and suitably configured processinglogic to support known or conventional operating features that are notdescribed in detail herein. The components (182, 184, 186, 188, and 190)are communicatively coupled via a local interface 192. The localinterface 192 can be, for example, but not limited to, one or more busesor other wired or wireless connections, as is known in the art. Thelocal interface 192 can have additional elements, which are omitted forsimplicity, such as controllers, buffers (caches), drivers, repeaters,and receivers, among many others, to enable communications. Further, thelocal interface 192 may include address, control, and/or dataconnections to enable appropriate communications among theaforementioned components.

The processor 182 is a hardware device for executing softwareinstructions. The processor 182 can be any custom made or commerciallyavailable processor, a central processing unit (CPU), an auxiliaryprocessor among several processors associated with the robot 100, asemiconductor-based microprocessor (in the form of a microchip or chipset), or generally any device for executing software instructions. Whenthe robot 100 is in operation, the processor 182 is configured toexecute software stored within the memory 190, to communicate data toand from the memory 190, and to generally control operations of therobot 100 pursuant to the software instructions.

The I/O interfaces 184 can be used to receive user input from and/or forproviding system output. User input can be provided via the controller200, for example, a keyboard, mouse, a touch screen, VR system, and thelike. System output can be provided via a display device such as aliquid crystal display (LCD), touch screen, VR system, and the like. TheI/O interfaces 184 can also include, for example, a serial port, aparallel port, a small computer system interface (SCSI), an infrared(IR) interface, a radio frequency (RF) interface, a universal serial bus(USB) interface, and the like. The I/O interfaces 184 can include agraphical user interface (GUI) that enables a user to interact with therobot 100. Additionally, the I/O interfaces 184 may further include animaging device, i.e. camera, video camera, etc.

The wireless interfaces 186 enable wireless communication to an externalaccess device or network, such as the controller 200. Any number ofsuitable wireless data communication protocols, techniques, ormethodologies can be supported by the wireless interfaces 186,including, without limitation: RF; IrDA (infrared); Bluetooth; ZigBee(and other variants of the IEEE 802.15 protocol); IEEE 802.11 (anyvariation); IEEE 802.16 (WiMAX or any other variation); Direct SequenceSpread Spectrum; Frequency Hopping Spread Spectrum; Long Term Evolution(LTE); cellular/wireless/cordless telecommunication protocols (e.g.3G/4G, etc.); wireless home network communication protocols; pagingnetwork protocols; magnetic induction; satellite data communicationprotocols; wireless hospital or health care facility network protocolssuch as those operating in the WMTS bands; GPRS; proprietary wirelessdata communication protocols such as variants of Wireless USB; and anyother protocols for wireless communication. The wireless interfaces 186can be used to communicate with the controller 200 for command andcontrol as well as to relay data therebetween.

The data store 188 may be used to store data. The data store 188 mayinclude any of volatile memory elements (e.g., random access memory(RAM, such as DRAM, SRAM, SDRAM, and the like)), nonvolatile memoryelements (e.g., ROM, hard drive, tape, CDROM, and the like), andcombinations thereof. Moreover, the data store 188 may incorporateelectronic, magnetic, optical, and/or other types of storage media.

The memory 110 may include any of volatile memory elements (e.g., randomaccess memory (RAM, such as DRAM, SRAM, SDRAM, etc.)), nonvolatilememory elements (e.g., ROM, hard drive, etc.), and combinations thereof.Moreover, the memory 110 may incorporate electronic, magnetic, optical,and/or other types of storage media. Note that the memory 110 may have adistributed architecture, where various components are situated remotelyfrom one another but can be accessed by the processor 102. The softwarein memory 110 can include one or more software programs, each of whichincludes an ordered listing of executable instructions for implementinglogical functions. In the example of FIG. 5, the software in the memory110 includes a suitable operating system (O/S) 114 and programs 116. Theoperating system 114 essentially controls the execution of othercomputer programs and provides scheduling, input-output control, fileand data management, memory management, and communication control andrelated services. The programs 116 may include various applications,add-ons, etc. configured to provide end user functionality with themobile device 100, including performing various aspects of the systemsand methods described herein.

In various embodiments, the robot 100 is configured to remain on thecell tower 12 in between inspections, audits, installations, and repairs(i.e. live on the cell tower 12). FIG. 7 is a schematic diagram of oneembodiment of the robot 100 housed on a cell tower 12 in accordance withthe present disclosure. FIG. 8 is a schematic diagram of anotherembodiment of the robot 100 housed on a cell tower 12 in accordance withthe present disclosure. Referring to FIGS. 7 and 8, in embodiments, therobot system 90 includes a docking station 170. The docking station 170is configured to mount to the cell tower 12, directly or indirectly.

In the embodiment illustrated in FIG. 7, a support structure 80 isprovided to position the docking station 170 above the radio centerplatform 32. As the radio center platform 32 is generally dedicated tocell site components 14, it is beneficial to position the dockingstation 170 off of the radio center platform 32. In some of theseembodiments, the docking station 170 includes a tether 173 that isconnected to the robot 100 and that is configured to support the robot100 while lowering down to the radio center platform 32 and to securethe robot 100 to the tower. In the embodiment illustrated, the dockingstation 170 includes a spool 172 for the tether 173, which feeds thetether as needed for facilitating movement of the robot 100 about thecell tower 12. In this embodiment, the tether 173 always remainsconnected to the robot 100 and is configured to support the robot 100 inthe event of an accident. In other embodiments, the robot includes thetether system 120 (refer to FIGS. 4 and 5) with the fastener 121 securedto the docking station 170. In some embodiments, the tether 173 isconfigured to provide power to the robot 100.

In the embodiment illustrated in FIG. 8, the docking station 170 issecured to the cell tower 12, such as to the lattice structure 13 (referto FIG. 1), the single tube 15 (refer to FIG. 2), or the straight rod 17(refer to FIG. 3). In this embodiment, the tether 173 always remainsconnected to the robot 100 and is configured to support the robot 100 inthe event of an accident. In some embodiments, the docking station 170includes a tether system 175, separate from the tether 173. The tethersystem 175 is configured to lift and lower equipment from the ground orlower on the tower and up to the docking station 170 to provideequipment to the robot 100 for performing any of inspections, audits,installations, repairs, and the like (audit tasks).

FIG. 9 is a schematic diagram of a further embodiment of the robot 100housed on a cell tower in accordance with the present disclosure. In theembodiment illustrated in FIG. 9, the robot 100 operates without atether connecting the robot 100 to the docking station 170. In some ofthese embodiments, the docking station includes the tether system 175for lifting and lowering equipment.

In embodiments, the docking station 170 includes solar panels 176 and abattery 176 configured for obtaining and storing power for the robot100. In embodiments, the battery 176 functions as backup power for therobot 100. In some embodiments, the docking station 170 is configured todraw power from the cell tower 12. In some embodiments, the dockingstation 170 is configured to provide power to the robot 100 via thetether 173. In other embodiments, the docking station 170 provides powerto the robot 100 while the robot 100 is docked thereat.

FIG. 10 is a block diagram of one embodiment of the controller 200 ofthe robot system 90 in accordance with the present disclosure. Inembodiments, the controller 200 is a digital computer that, in terms ofhardware architecture, generally includes a processor 202, input/output(I/O) interfaces 204, a network interface 206, a data store 208, andmemory 210. It should be appreciated by those of ordinary skill in theart that FIG. 10 depicts the controller 200 in an oversimplified manner,and a practical embodiment may include additional components andsuitably configured processing logic to support known or conventionaloperating features that are not described in detail herein. Thecomponents (202, 204, 206, 208, and 210) are communicatively coupled viaa local interface 212. The local interface 212 may be, for example, butis not limited to, one or more buses or other wired or wirelessconnections, as is known in the art. The local interface 212 may haveadditional elements, which are omitted for simplicity, such ascontrollers, buffers (caches), drivers, repeaters, and receivers, amongmany others, to enable communications. Further, the local interface 212may include address, control, and/or data connections to enableappropriate communications among the aforementioned components.

The processor 202 is a hardware device for executing softwareinstructions. The processor 202 may be any custom made or commerciallyavailable processor, a central processing unit (CPU), an auxiliaryprocessor among several processors associated with the controller 200, asemiconductor-based microprocessor (in the form of a microchip orchipset), or generally any device for executing software instructions.When the controller 200 is in operation, the processor 202 is configuredto execute software stored within the memory 210, to communicate data toand from the memory 210, and to generally control operations of thecontroller 200 and operations of the robot 100 pursuant to the softwareinstructions. The I/O interfaces 204 may be used to receive user inputfrom and/or for providing system output to one or more devices orcomponents.

The network interface 206 may be used to enable the controller 200 tocommunicate on a network, such as the Internet, a Local Area Network, acellular network, and the like. The network interface 206 may include,for example, an Ethernet card or adapter (e.g., 10 BaseT, Fast Ethernet,Gigabit Ethernet, or 10 GbE) ora Wireless Local Area Network (WLAN) cardor adapter (e.g., 802.11a/b/g/n/ac). The network interface 206 mayinclude address, control, and/or data connections to enable appropriatecommunications on the network. A data store 208 may be used to storedata. The data store 208 may include any of volatile memory elements(e.g., random access memory (RAM, such as DRAM, SRAM, SDRAM, and thelike)), nonvolatile memory elements (e.g., ROM, hard drive, tape, CDROM,and the like), and combinations thereof. Moreover, the data store 208may incorporate electronic, magnetic, optical, and/or other types ofstorage media. In one example, the data store 208 may be locatedinternal to the controller 200, such as, for example, an internal harddrive connected to the local interface 212 in the controller 200.Additionally, in another embodiment, the data store 28 may be locatedexternal to the controller 200 such as, for example, an external harddrive connected to the I/O interfaces 204 (e.g., a SCSI or USBconnection). In a further embodiment, the data store 208 may beconnected to the controller 200 through a network, such as, for example,a network-attached file server.

In embodiments, the memory 210 may include any of volatile memoryelements (e.g., random access memory (RAM, such as DRAM, SRAM, SDRAM,etc.)), nonvolatile memory elements (e.g., ROM, hard drive, tape, CDROM,etc.), and combinations thereof. Moreover, the memory 210 mayincorporate electronic, magnetic, optical, and/or other types of storagemedia. Note that the memory 210 may have a distributed architecture,where various components are situated remotely from one another but canbe accessed by the processor 202. The software in memory 210 may includeone or more software programs, each of which includes an ordered listingof executable instructions for implementing logical functions. Thesoftware in the memory 210 includes a suitable operating system (0/S)214 and one or more programs 216. The operating system 214 essentiallycontrols the execution of other computer programs, such as the one ormore programs 216, and provides scheduling, input-output control, fileand data management, memory management, and communication control andrelated services. The one or more programs 216 may be configured toimplement the various processes, algorithms, methods, techniques, etc.described herein.

FIG. 11 is a block diagram of one embodiment of a Virtual Reality (VR)System 300 for controlling the robot 100 in accordance with the presentdisclosure. In embodiments, the VR system 300 includes a headset 310 andone or more control components 320. In embodiments, the headset 310includes all of the general components (202, 204, 206, 208, 210, and212) described with regards to the controller 200. The headset 310 alsoincludes a display 311. In embodiments, the display 310 is configured topresent a Graphical User Interface (GUI) 311 for controlling the robot100. In embodiments, the GUI 311 includes a primary display 312 that isconfigured to display a selected video feed from image sensors 131, 115of the robot 100. In some embodiments, the GUI 311 includes secondarydisplays 313 configured to display video feeds from other image sensors131, 115 of the robot 100. In some embodiments, the GUI 311 alsoincludes a menu 314 that is configured to provide various controlfunctionalities and menu options for controlling the robot 100, such as,controlling the video feeds, selecting which arms 110 of the robot 100to manually control, providing commands to the robot 100, and the like.In some embodiments, the GUI 311 further includes a data feed 315, whichprovides data obtained from the robot 100, such as RF signals beingmonitored during an audit, and the like.

In embodiments, the control components 320 are wearable or handhelddevices. In the embodiment illustrated, the control components 320include gloves with multiple sensors 322 that are configured to detectmovements of a person's hands and fingers. In embodiments, certainfingers of the gloves can be configured to control the digits of theclaw 113 of the robot 100, such as to control gripping and manipulatingobjects thereby.

In various embodiments, the control components 320 include otherwearable devices such as an exoskeleton suit adapted to send controlsignals to the robot 100. In these embodiments, the control components320 allow a user to control the robot 100 movements to perform work andmaneuver about the cell tower 12. The exoskeleton suit can includewearable components around a user's arms or wearable components aroundthe user's entire body. The exoskeleton suit can additionally include anexternal display 312 or be used in combination with the VR system 300described herein configured to display a selected video feed from imagesensors 131, 115 of the robot 100. In embodiments, the exoskeleton suitmay be worn by a user sitting down or standing up. In embodiments, asuit includes multiple sensors 322 that are configured to detectmovements from the user's body. In embodiments, certain portions of thesuit, such as the arms, can be configured to control the various armsegments 111 of the robot 100, such as to control and manipulate objectsthereby.

§ 3.0 Cell Site Audits

As described herein, the cell site audit is used by service providers,third party engineering companies, tower operators, etc. to check andensure proper installation, maintenance, and operation of the cell sitecomponents 14 and shelter or cabinet 40 equipment as well as the variousinterconnections between them. From a physical accessibilityperspective, tower climbers access the cell site components 14 using theclimbing supports 36 to climb up to the cell site components 14 and tothe radio center platforms 32. The sets 20, 22, 24, 26 of the cell sitecomponents 14 can be sub-divided into sectors, such as into threesectors including an alpha sector, a beta sector, and a gamma sector.

In an exemplary embodiment, the robot 100 is utilized to perform thecell site audit in lieu of a tower climber. In the typical cell siteaudit, an engineer/technician is local to the cell site 10 to performvarious tasks, which requires the engineer/technician to climb the celltower 12. The systems and methods described herein eliminate a need forthe engineer/technician to climb the cell tower 12.

In general, the cell site audit is performed to gather information andidentify a state of the cell site 10. This is used to check theinstallation, maintenance, and/or operation of the cell site 10. Variousaspects of the cell site audit can include, without limitation:

Verify the cell site 10 is built according to a current revision VerifyEquipment Labeling Verify Coax Cable (“Coax”) Bend Radius Verify CoaxColor Coding/Tagging Check for Coax External Kinks & Dents Verify CoaxGround Kits Verify Coax Hanger/Support Verify Coax Jumpers Verify CoaxSize Check for Connector Stress & Distortion Check for ConnectorWeatherproofing Verify Correct Duplexers/Diplexers Installed VerifyDuplexer/Diplexer Mounting Verify Duplexers/Diplexers InstalledCorrectly Verify Fiber Paper Verify Lacing & Tie Wraps Check for Looseor Cross-Threaded Coax Connectors Verify Return (“Ret”) Cables VerifyRet Connectors Verify Ret Grounding Verify Ret Installation Verify RetLightning Protection Unit (LPI) Check for Shelter/Cabinet PenetrationsVerify Surge Arrestor Installation/Grounding Verify Site CleanlinessVerify LTE GPS Antenna Installation

Of note, the cell site audit includes gathering information at andinside the shelter 40, on the cell tower 12, and at the cell sitecomponents 14. In embodiments, the robot 100 is configured to performany of the tasks for a cell site audit disclosed herein, and inparticular to inspect the cell tower 12, the cell site components 14,the radio center platforms 32, and the like. In some embodiments, therobot 100 is configured to climb down the cell tower 12 to inspect theequipment in the shelter 40. In some of these embodiments, the robot 100is configured to access the shelter 40, such as by unlocking an accesspoint thereto. In other embodiments, the equipment in the shelter 40 isinspected manually be an engineer/technician.

In some embodiments, the engineer/technician utilizes the controller200, such as via the VR system 300 to guide the robot 100 to perform theaudit. In embodiments, the robot 100 is controlled from a remotelocation. In other embodiments, the robot is controlled by anengineer/technician that is at the cell site 10. In other embodiments,the robot system 90 is configured to perform the audit autonomously viadirect programming, machine learning, and the like.

FIG. 12 is a flow chart of an exemplary method 1200 for performing anaudit of the cell site 10 utilizing a robot system 90. The method 1200includes positioning a robot 100 on a cell tower 12 to perform an audittask chosen from inspecting and monitoring a component of the cell tower12 at step 1202. In embodiments, step 1202 includes causing the robot toposition one of the image sensors 115 directly at the component(s) beingaudited. In some of these embodiments, this requires the robot 100 tomaneuver, such as via climbing or utilizing the tether, into a specificlocation on the cell tower 12 and then maneuvering one or more claws 115to direct the image sensors 115 at the component(s) being audited.

The method 1200 also includes capturing data associated with thecomponent(s) being audited based on the audit being performed at step1204. In some embodiments, step 1204 includes capturing image data withthe image sensors 115. In some embodiments, step 1204 requires the robotto activate RF sensors to capture RF data. Advantageously, the robot 100is maneuvered to different locations on the cell tower 12 whilecapturing the RF data.

The method 1200 further includes processing the data collected to verifywhether the component being audited is in a predetermined condition atstep 1206. The predetermined condition being set based on standardconditions of components required for operation on a cell site 10. Insome embodiments, the data is processed by providing the data forinspection to the engineer/technician. In other embodiments, the data isprocessed by the robot system 90 performing image comparisons betweenthe data collected and previously categorized data as being in thepredetermined condition or not in the predetermined condition.

§ 3.1 Antenna Down Tilt Angle

In an exemplary aspect of the cell site audit, the robot system 90 canbe used to determine a down tilt angle of individual antennas 30 of thecell site components 14. The down tilt angle can be determined for allof the antennas 30 in all of the sectors. The down tilt angle is themechanical (external) down tilt of the antennas 30 relative to a supportbar, such as a radio center platforms 32. In the cell site audit, thedown tilt angle is compared against an expected value, such as from aRadio Frequency (RF) data sheet, and the comparison may check to ensurethe mechanical (external) down tilt is within ±1.0° of specification onthe RF data sheet.

Using the robot system 90, the down tilt angle is determined from aphoto taken from one of the image sensors 115, 131. In an exemplaryembodiment, the robot system 90 is configured to measure threepoints—two defined by the antenna 30 and one by the support bar todetermine the down tilt angle of the antenna 30. For example, the downtilt angle can be determined visually from the side of the antenna30—measuring a triangle formed by a top of the antenna 30, a bottom ofthe antenna 30, and the support bar.

§ 3.2 Antenna Plumb

In an exemplary aspect of the cell site audit and similar to determiningthe down tilt angle, the robot system 90 can be used to visually inspectthe antenna 30 including its mounting brackets and associated hardware.This can be done to verify appropriate hardware installation, to verifythe hardware is not loose or missing, and to verify that antenna 30 isplumb relative to the support bar.

§ 3.3 Antenna Azimuth

In an exemplary aspect of the cell site audit, the robot system 90 canbe used to verify the antenna azimuth, such as verifying the antennaazimuth is oriented within ±5° as defined on the RF data sheet. Theazimuth (AZ) angle is the compass bearing, relative to true (geographic)north, of a point on the horizon directly beneath an observed object.Here, the robot system 90 can include a location determining device suchas a GPS measurement device. The antenna azimuth can be determined withthe robot system 90 using an aerial photo or the GPS measurement device.

§ 3.4 Photo Collections

As part of the cell site audit generally, the robot system 90 can beused to document various aspects of the cell site 10 by taking photos orvideo. For example, the robot system 90 can be used to take photos orvideo on the ground in or around the shelter 40 and can be used to takephotos or video up the cell tower 12 and of the cell site components 14.The photos and video can be stored in any of the robot system 90, acloud system associated with the robot system, and the like.

In an exemplary embodiment, the robot 100 can provide real-time videofootage back to the controller 200 or another location (for example, aNetwork Operations Center (NOC) or the like) from any position on thecell tower 12.

§ 3.5 Data capture—Cell Site Audit

The robot 100 can be used to capture various pieces of data via theimage sensors 115, 131. That is, with the robot 100, the image sensors115, 131 are equivalent to the engineer/technician's own eyes, therebyeliminating the need for the engineer/technician to physically climb thetower. One important aspect of the cell site audit is physicallycollecting various pieces of information—either to check records forconsistency or to establish a record. For example, the data capture caninclude determining equipment module types, locations, connectivity,serial numbers, etc. from photos. The data capture can includedetermining physical dimensions from photos or from GPS such as the celltower 12 height, width, depth, etc. The data capture can also includevisual inspection of any aspect of the cell site 10, cell tower 12, cellsite components 14, etc. including, but not limited to, physicalcharacteristics, mechanical connectivity, cable connectivity, and thelike.

The data capture can also include checking the lighting rod 16 and thewarning light 18 on the cell tower 12. Also, with additional equipmenton the robot 100, the robot 100 can be configured to perform maintenancesuch as replacing the warning light 18, etc. The data capture can alsoinclude checking maintenance status of the cell site components 14visually as well as checking an associated connection status. Anotheraspect of the cell site audit can include checking the structuralintegrity of the cell tower 12 and the cell site components 14 viaphotos from the robot 100.

§ 4.0 Installing and Modifying Cell Tower Components

Additionally, the systems and methods described herein contemplatepractically any activity at the cell site 10 using the robot system 90in lieu of a tower climb. This can include, without limitation, anytower/equipment installation work, tower/equipment repair work,tower/equipment modification work, equipment reconfiguration,tower/equipment warranty work, tower operational ready work, towerconstruction work, tower decommissioning/deconstruction work, and thelike.

FIG. 13 is a flow chart of an exemplary method 1300 for modifyingequipment of the cell site 10 utilizing a robot system 90. The method1300 includes providing components to a robot 100 of the robot system 90at step 1302. In embodiments, providing components to the robot 100includes providing any of providing equipment to be installed,replacement parts, tools for performing the work, and the like to therobot 100. In some embodiments, the components are provided via thetether system 175. In other embodiments, the components are flown up tothe robot 100 via a UAV 50 (refer to FIG. 14 described below). Infurther embodiments, the components are provided by connecting thecomponents to a tether 122 connected to the robot 100. In someembodiments, the robot 100 climbs at least partially down the cell tower12 to obtain the components.

The method also includes positioning the robot 100 on the cell tower 12to perform the modification at step 1304. The method further includesutilizing the claws 113 to modify the equipment utilizing the componentsprovided to the robot 100 at step 1306. In embodiments, the modifyingincludes installing equipment, replacing parts of the equipment,removing parts of the equipment, completely removing a piece ofequipment, and the like.

FIG. 14 is a schematic diagram of an embodiment of the robot 100 on acell tower 12 coordinating with a UAV 50 in accordance with the presentdisclosure. In embodiments, a UAV 50 is configured to coordinate withthe robot 100 for supplying components 38 thereto. In embodiments, theUAV 50 utilizes a tether 53 to provide the components 38 to the robot100. In embodiments, the UAV 50 is controlled by the controller 200,which coordinates movements therebetween. In other embodiments, the UAV50 is controlled by another device, such as a separate controller,mobile device, and the like.

The UAV 50 may be referred to as a drone or the like. The UAV 50 may bea commercially available UAV platform that has been modified to carryspecific electronic components. The UAV 50 includes rotors 52 attachedto a body 51. A lower frame is located on a bottom portion of the body51, for landing the UAV 50 to rest on a flat surface and absorb impactduring landing. The UAV 50 also includes an image sensor 53, such as acamera, which is used to take still photographs, video, and the like.Specifically, the image sensor 53 is used to provide a real-time displayon a screen for control of the UAV 50. The UAV 50 includes variouselectronic components inside the body 51 and/or the image sensor 53 suchas, without limitation, a processor, a data store, memory, a wirelessinterface, and the like, which can be the same or similar to thecomponents (182, 184, 186, 188, 190, 192) described with regards to therobot 100. Also, the UAV 50 can include additional hardware, such asrobotic arms or the like that allow the UAV 50 to attach/detachcomponents for the cell site components 14 and for delivery ofcomponents 38 to the robot 100. Specifically, it is expected that theUAV 50 will get bigger and more advanced, capable of carryingsignificant loads, and not just a wireless camera. The presentdisclosure contemplates using the UAV 50 for various aspects at the cellsite 10, including participating in construction or deconstruction ofthe cell tower 12, the cell site components 14, etc.

Additionally, in embodiments, the systems and methods described hereincontemplate use of the robot 100 and UAV 50 in coordination forperforming any of the auditing procedures described herein.

§ 5.0 Robot System with UAV

FIG. 15 is a schematic diagram of another exemplary robot system 90configured for inspecting, installing, reconfiguring, and repairingcellular equipment 14 at a cell site 12 in accordance with the presentdisclosure. In some embodiments, the robot system 90 further includes aUAV 50. In some of these embodiments, the controller 200 is configuredto control both the UAV 50 and the robot 100 and to coordinate movementsthere between.

In some embodiments, the UAV 50 is configured to transport the robot100, such as to a top of the cell tower 12. In some of theseembodiments, the UAV 50 includes a tether 56 configured to connect tothe robot 100 for lifting the robot 100. In some embodiments, the UAV 50includes magnets 55 mounted to a base 54 thereof. The magnets 55 areconfigured to secure the robot 100 to the UAV 50. In some of theseembodiments, the robot 100 includes magnets 106 configured to secure therobot 100 to the base 54. In some embodiments, the magnets 106 includepolarity opposite to the magnets 55 such that a connection can be formedtherebetween. In some embodiments, the robot 100 is configured to gripthe base 54 with the arms 115 for securing the robot 100 to the UAV 50during flight. In embodiments, various combinations of the tether 56,the magnets 55, the magnets 106, and the arms 115 gripping the base 54are utilized for securing the robot 100 to the UAV 50 during thetransport of the robot 100 by the UAV 50. In some embodiments, the robot100 is configured to stow the arms 115 during transport.

In embodiments, the magnets 55 and magnets 106 are permanent magnets. Inother embodiments, the magnets 55 and magnets 106 are selectably enabledmagnets that can be energized for magnetism and de-energized to releasethe magnetism, such as for forming the connection between the robot 100and the UAV 50 and for releasing the connection between the robot 100and the UAV 50.

In embodiments, the tether 56 is enabled to drop the robot 100 to thecell tower 12 and release the robot 100 on the cell tower 12.

In embodiments, the robot 100 includes the components of the UAV 50,allowing the robot 100 to preform the functions of the UAV 50 as well asthe functions of the robot 100. This allows the robot 100 to fly to anylocation around the cell site 12 to perform work.

§ 6.0 Machine Learning in Robot Control

Machine learning can be used in various applications for controlling therobot 100. In particular use cases, machine learning can be used forcontrolling the robot 100 to inspect, monitor, install, reconfigure, orrepair cellular equipment at a cell site. That is, a machine learningmodel is built and trained to control the robot, such as for inspecting,monitoring, installing, reconfiguring, or repairing cellular equipmentat the cell site. The typical machine learning training process collectsdata samples, extracts a set of features from these samples, and feedsthe features into a machine learning model to determine and recognizepatterns related to the robot 100 and to cellular equipment. The outputof this training process is one or more machine learning models that cancontrol the robot 100 to perform various tasks and for recognizing andclassifying conditions of cellular equipment.

FIG. 16 is a flow chart of an exemplary method 1600 for performing anaudit of the cell site 10 utilizing a robot system 90. The method 1600includes controlling a robot 100 utilizing a trained machine learningmodel to position the robot 100 on a cell tower 12 to perform an audittask chosen from inspecting and monitoring a component of the cell tower12 at step 1602. In embodiments, step 1602 includes causing the robot100 to position one of the image sensors 115 to capture images of thecomponent(s) being audited. In some of these embodiments, this requiresthe robot 100 to maneuver, such as via climbing or utilizing the tether,into a specific location on the cell tower 12 and then maneuvering oneor more claws 115 to direct the image sensors 115 towards thecomponent(s) being audited.

The method 1600 also includes capturing data associated with thecomponent(s) being audited based on the audit being performed at step1604. In some embodiments, step 1604 includes capturing image data withthe image sensors 115. In some embodiments, step 1604 requires the robotto activate RF sensors to capture RF data. Advantageously, the robot 100is maneuvered to different locations on the cell tower 12 whilecapturing the RF data.

The method 1600 further includes processing the data collected utilizingthe trained machine learning model to verify whether the component beingaudited is in a predetermined condition at step 1606. The predeterminedcondition being set based on standard conditions of components requiredfor operation on a cell site 10.

FIG. 17 is a flow chart of an exemplary method 1700 for modifyingequipment of the cell site 10 utilizing a robot system 90. The method1700 includes providing components to a robot 100 of the robot system 90at step 1702. In embodiments, providing components to the robot 100includes providing any of providing equipment to be installed,replacement parts, tools for performing the work, and the like to therobot 100. In some embodiments, the components are provided via thetether system 175. In other embodiments, the components are flown up tothe robot 100 via a UAV 50 (refer to FIG. 14 described below). Infurther embodiments, the components are provided by connecting thecomponents to a tether 122 connected to the robot 100. In someembodiments, the robot 100 climbs at least partially down the cell tower12 to obtain the components. In some embodiments, the robot 100 isautonomously controlled by a trained learning model to receive thecomponents.

The method also includes controlling the robot 100 with a trainedlearning model to position the robot 100 on the cell tower 12 to performthe modification at step 1704. The method further includes controllingthe claws 113 with the trained learning model to modify the equipmentutilizing the components provided to the robot 100 at step 1706. Inembodiments, the modifying includes installing equipment, replacingparts of the equipment, removing parts of the equipment, completelyremoving a piece of equipment, and the like.

In embodiments, the controlling of the robot is performed by the machinelearning model. In other embodiments, the controlling of the robot isperformed wirelessly by a user at the cell tower site, by a user in aremote location, or by an imbedded program. In embodiments, the wirelesscontrol of the robot is facilitated by the control componentscontemplated herein.

In some embodiments, there is a single trained machine learning model.In other embodiments, there are multiple trained machine learningmodels, and the controller selects the trained model for controlling therobot 100 based on which tasks need to be performed by the robot 100.For example, in one embodiment, one trained machine learning model isutilized for maneuvering the robot 100, another trained machine learningmodel is utilized for obtaining data for an audit, and a further trainedmachine learning model is utilized for processing the data collected.

The trained machine learning model(s) for performing audits can betrained using labeled log data labeling decisions made during theaudits, the type of audit, and images captured during the audit. Thetrained machine learning model(s) for controlling the robot 100 can betrained using input data for manually controlling movements of the robot100, images capture during the manual control, sensor data capturedduring the control, positions of the various components and parts of therobot 100, and the like.

Again, in various embodiments, the robot 100 is configured to remain onthe cell tower 12 in between inspections, audits, installations, andrepairs (i.e. live on the cell tower 12). Referring again to FIGS. 7 and8, in embodiments, the cell tower 12 includes a docking station 170. Thedocking station 170 is configured to mount to the cell tower 12,directly or indirectly.

FIG. 18 is a flow chart of an exemplary method 1800 for modifyingequipment of the cell site 10 utilizing a robot 100. The method 1800includes causing a robot to leave a docking station on a cell tower toperform an audit task 1802. In embodiments, the steps also includeproviding components to the robot 100, the providing includes providingany of equipment to be installed, replacement parts, tools forperforming the work, and the like to the robot 100. In some embodiments,the components are provided via the tether system 175. In otherembodiments, the components are flown up to the robot 100 via a UAV 50.In further embodiments, the components are provided by connecting thecomponents to a tether 122 connected to the robot 100. In someembodiments, the robot 100 climbs at least partially down the cell tower12 to obtain the components. In some embodiments, the robot 100 isautonomously controlled by a trained learning model to receive thecomponents.

In some embodiments, the causing of the robot 100 to leave the dockingstation 170 may be triggered by a user controlling the robot 100 or animbedded program following predetermined inspection schedules for therobot 100 to perform. Some embodiments may utilize a trained model todetermine an audit schedule.

The method 1800 also includes controlling the robot 100 to position therobot 100 on the cell tower 12 to perform the audit task at step 1804.The method 1800 also includes controlling the robot 100 to perform theaudit task at step 1806. Again, in various embodiments, the controllingof the robot 100 is performed by the machine learning model. In otherembodiments, the controlling of the robot is performed wirelessly by auser at the cell tower site, by a user in a remote location, or by animbedded program. In embodiments, the wireless control of the robot isfacilitated by the control components contemplated herein.

The method 1800 further includes causing the robot 100 to return to thedocking station 170. Again, the causing of the robot 100 to return tothe docking station 170 may be triggered by a user controlling the robot100, an imbedded program, or a trained model which determines audittasks are completed.

It will be appreciated that some embodiments described herein mayinclude or utilize one or more generic or specialized processors (“oneor more processors”) such as microprocessors; Central Processing Units(CPUs); Digital Signal Processors (DSPs): customized processors such asNetwork Processors (NPs) or Network Processing Units (NPUs), GraphicsProcessing Units (GPUs), or the like; Field-Programmable Gate Arrays(FPGAs); and the like along with unique stored program instructions(including both software and firmware) for control thereof to implement,in conjunction with certain non-processor circuits, some, most, or allof the functions of the methods and/or systems described herein.Alternatively, some or all functions may be implemented by a statemachine that has no stored program instructions, or in one or moreApplication-Specific Integrated Circuits (ASICs), in which each functionor some combinations of certain of the functions are implemented ascustom logic or circuitry. Of course, a combination of theaforementioned approaches may be used. For some of the embodimentsdescribed herein, a corresponding device in hardware and optionally withsoftware, firmware, and a combination thereof can be referred to as“circuitry configured to,” “logic configured to,” etc. perform a set ofoperations, steps, methods, processes, algorithms, functions,techniques, etc. on digital and/or analog signals as described hereinfor the various embodiments.

Moreover, some embodiments may include a non-transitorycomputer-readable medium having instructions stored thereon forprogramming a computer, server, appliance, device, processor, circuit,etc. to perform functions as described and claimed herein. Examples ofsuch non-transitory computer-readable medium include, but are notlimited to, a hard disk, an optical storage device, a magnetic storagedevice, a Read-Only Memory (ROM), a Programmable ROM (PROM), an ErasablePROM (EPROM), an Electrically EPROM (EEPROM), Flash memory, and thelike. When stored in the non-transitory computer-readable medium,software can include instructions executable by a processor or device(e.g., any type of programmable circuitry or logic) that, in response tosuch execution, cause a processor or the device to perform a set ofoperations, steps, methods, processes, algorithms, functions,techniques, etc. as described herein for the various embodiments.

Although the present disclosure has been illustrated and describedherein with reference to preferred embodiments and specific examplesthereof, it will be readily apparent to those of ordinary skill in theart that other embodiments and examples may perform similar functionsand/or achieve like results. All such equivalent embodiments andexamples are within the spirit and scope of the present disclosure, arecontemplated thereby, and are intended to be covered by the followingclaims.

What is claimed is:
 1. A robot for performing audit tasks of celltowers, the robot comprising: a body portion configured to hold variouselectronic components of the robot comprising monitoring equipmentdisposed thereon; one or more arms extending from the body portionadapted to manipulate components of a cell tower and to facilitatemovement of the robot on the cell tower; and wireless interfaces adaptedto receive control signals from a Virtual Reality (VR) system allowingwireless control of the robot.
 2. The robot of claim 1, wherein the VRsystem comprises a headset and one or more control components.
 3. Therobot of claim 2, wherein the control components are any of wearable andhandheld devices.
 4. The robot of claim 1, wherein the one or more armsfurther comprise claws adapted to grip tools and components of the celltower.
 5. The robot of claim 1, further comprising magnets disposed onthe body portion, wherein the magnets are one of permanent magnets andselectively enabled magnets adapted to secure the robot to the celltower.
 6. The robot of claim 1, wherein the body portion furthercomprises storage compartments configured to hold tools and equipment.7. The robot of claim 1, wherein the body portion further compriseselongated compartments, and wherein the one or more arms are configuredto stow within the elongated compartments.
 8. The robot of claim 1,wherein the robot is configured to be controlled by one of a user in aremote location, a user at the cell tower site, and autonomously viadirect programing.
 9. A robot for performing audit tasks of cell towers,the robot comprising: a body portion configured to hold variouselectronic components of the robot comprising monitoring equipmentdisposed thereon; one or more arms extending from the body portionadapted to manipulate components of a cell tower and to facilitatemovement of the robot on the cell tower; wireless interfaces adapted toreceive control signals from a Virtual Reality (VR) system allowingwireless control of the robot; a processor coupled to the wirelessinterfaces; and memory storing instructions that, when executed, causethe processor to: process commands from the VR system to position therobot on the cell tower to perform an audit task chosen from a pluralityof operations to the cell tower; process commands from the VR system tocapture data associated with components being audited based on the auditbeing performed; and process the data collected to verify whether thecomponent being audited is in a predetermined condition.
 10. The robotof claim 9, wherein the plurality of operations include any ofinspecting and monitoring a component of the cell tower, performingrepair, and installing components of the cell tower.
 11. The robot ofclaim 9, wherein the VR system comprises a headset and one or morecontrol components.
 12. The robot of claim 11, wherein the controlcomponents are any of wearable and handheld devices.
 13. The robot ofclaim 9, wherein the robot is configured to be controlled by one of auser in a remote location, a user at the cell tower site, andautonomously via direct programing.
 14. The robot of claim 9, whereinthe one or more arms further comprise claws adapted to grip tools andcomponents of the cell tower.
 15. The robot of claim 9, furthercomprising magnets disposed on the body portion, wherein the magnets areone of permanent magnets and selectively enabled magnets adapted tosecure the robot to the cell tower, and wherein the instructions furthercause the processor to control the selectively enabled magnets.
 16. Therobot of claim 9, wherein the body portion further comprises storagecompartments configured to hold tools and equipment.
 17. The robot ofclaim 9, wherein the robot is adapted to operate in adverse weatherconditions.
 18. The robot of claim 9, wherein the body portion furthercomprises elongated compartments, and wherein the one or more arms areconfigured to stow within the elongated compartments.
 19. A methodimplemented by a Virtual Reality (VR) system adapted to control a robot,the method comprising steps of: positioning a robot on a cell tower toperform an audit task chosen from a plurality of operations to the celltower; capturing data associated with components being audited based onthe audit being performed; and processing the data collected to verifywhether the component being audited is in a predetermined condition. 20.The method of claim 19, wherein the plurality of operations include anyof inspecting and monitoring a component of the cell tower, performingrepair, and installing components of the cell tower.